CN110186473B

CN110186473B - Image processing method, device, electronic equipment and storage medium

Info

Publication number: CN110186473B
Application number: CN201910458925.3A
Authority: CN
Inventors: 吕蒙; 徐泽皓
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2023-05-02
Anticipated expiration: 2039-05-29
Also published as: EP3910292A4; EP3910292A1; JP7313450B2; CN110186473A; WO2020238691A1; US20210341307A1; US12044544B2; US20240310184A1; JP2022517195A

Abstract

The embodiment of the invention discloses an image processing method, an image processing device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring the remaining mileage parameters of the vehicle; acquiring the initial position of a vehicle in a map display interface; determining a target cruising area in a map display interface according to the initial position and the residual mileage parameters; and displaying the target cruising area in the map display interface. By adopting the invention, the actual reachable range of the automobile can be intuitively displayed to the user, and the efficiency of the journey planning is further improved.

Description

Image processing method, device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of computer technologies, and in particular, to an image processing method, an image processing device, an electronic device, and a storage medium.

Background

When a user travels a car, the user often plans a next trip according to the remaining number of cruising mileage of the car. At present, the display of the cruising mileage of the automobile is often in the form of numerical value, namely, the cruising mileage is displayed on the automobile instrument board in numerical value. For example, "mileage 100km" is displayed on the instrument panel.

However, only the numerical display of the remaining mileage results in insufficient and specific information transferred to the user, and the user is required to manually estimate the actual reachable range by combining the current road condition and the remaining mileage subsequently, so that the trip is determined, and the efficiency of trip planning is reduced.

Disclosure of Invention

The embodiment of the invention provides an image processing method, an image processing device, electronic equipment and a storage medium, which can intuitively display the actual reachable range of an automobile to a user, thereby improving the efficiency of journey planning.

In one aspect, an embodiment of the present invention provides an image processing method, including:

acquiring the remaining mileage parameters of the vehicle;

acquiring the initial position of the vehicle in a map display interface;

determining a target cruising area in the map display interface according to the starting position and the residual mileage parameter;

and displaying the target cruising area in the map display interface.

The determining the target cruising area in the map display interface according to the starting position and the remaining mileage parameter includes:

determining a plurality of target points in the map display interface according to the starting position and the residual mileage parameters;

And connecting the plurality of target points in the map display interface to obtain the target cruising area.

Wherein the determining a plurality of target points in the map display interface according to the starting position and the remaining mileage parameter includes:

determining a plurality of original candidate points according to the starting position and the residual mileage parameters;

selecting an original candidate point which is reachable by the vehicle from the plurality of original candidate points as a reachable candidate point;

and determining the reachable alternative point as a target point.

Wherein the determining a plurality of original candidate points according to the starting position and the remaining mileage parameter includes:

determining an original cruising area in the map display interface according to the starting position and the residual mileage parameters;

dividing the original cruising area into at least one unit original cruising area, and respectively determining original candidate points in each unit original cruising area.

Wherein the determining the reachable alternative point as the target point comprises:

selecting an available alternative point with the largest distance from the initial position from available alternative points in a unit original continuous navigation area as a target point to be determined, wherein the target point corresponds to the unit original continuous navigation area;

And taking the target points to be determined corresponding to all the unit original cruising areas as the target points.

Wherein the selecting, as the reachable candidate point, an original candidate point reachable by the vehicle from the plurality of original candidate points includes:

determining an alternative point road network area of an original alternative point, and acquiring road network data in the alternative point road network area from a road network data set as alternative point road network data;

if the alternative point road network data is a non-empty set, determining the original alternative point as a candidate point;

determining a road network path distance between the candidate point and the starting position according to the road network data set;

and if the road network path distance between the candidate point and the starting position is smaller than or equal to the residual mileage parameter, determining the candidate point as the reachable candidate point.

The determining the original cruising area in the map display interface according to the starting position and the remaining mileage parameter comprises the following steps:

obtaining map scale coefficients corresponding to the map display interface;

determining a mileage radius coefficient according to the remaining mileage parameter and the map scale coefficient;

And in the map display interface, taking the initial position as a circle center, taking the mileage radius coefficient as a radius, generating a mileage circumference, and determining a corresponding area of the mileage circumference in the map display interface as the original cruising area.

The dividing the original cruising area into at least one unit original cruising area, and determining original candidate points in each unit original cruising area respectively includes:

obtaining a polar angle interval coefficient, and dividing the original cruising area into at least one unit original cruising area according to the polar angle interval coefficient;

dividing each unit original cruising area into at least one unit original cruising subarea; the difference value between the area side length of each unit original endurance sub-area and the first length threshold value is smaller than the difference threshold value;

and in the map display interface, taking the vertex of each unit original cruising subarea as the original candidate point.

The determining the alternative point road network area of the original alternative point comprises the following steps:

acquiring longitude and latitude information of an original candidate point, and searching a target road network data block corresponding to the longitude and latitude information from a plurality of road network data blocks; the road network data set corresponds to the plurality of road network data blocks; each road network data block comprises a plurality of unit road network data blocks;

Searching a first unit road network data block corresponding to the longitude and latitude information from a plurality of unit road network data blocks corresponding to the target road network data block;

acquiring a second length threshold, and determining a second unit road network data block adjacent to the first unit road network data block according to the second length threshold;

and taking the road network area corresponding to the first unit road network data block and the road network area corresponding to the second unit road network data block as the candidate point road network area of the original candidate point.

The selecting, from the reachable candidate points in the unit original continuous navigation area, the reachable candidate point with the largest distance from the starting position as the target point to be determined corresponding to the unit original continuous navigation area includes:

determining the map distance between the reachable alternative points in the unit original continuous navigation area and the starting position in the map display interface;

and taking the reachable alternative point with the maximum map distance as a target point to be determined, which corresponds to the unit original cruising area.

Determining the path network path distance between the reachable alternative points in the unit original continuous navigation area and the starting position as a candidate path network path distance;

and taking the reachable alternative point with the maximum candidate road network path distance as a target point to be determined, which corresponds to the unit original cruising area.

The step of connecting the plurality of target points in the map display interface to obtain the target cruising area includes:

connecting each target point in a clockwise order or a counterclockwise order to obtain a candidate closed loop;

deleting target points meeting the position mutation condition from the candidate closed circles;

and connecting the rest target points in the map display interface according to the clockwise sequence or the anticlockwise sequence to obtain the target cruising area.

The target point comprises a first reachable point, a second reachable point and a third reachable point; the second reachable point is adjacent to the first reachable point in the candidate closed loop, and the second reachable point is adjacent to the third reachable point;

the method further comprises the steps of:

connecting the first reachable point with the second reachable point to obtain a first connecting line;

Connecting the second reachable point with the third reachable point to obtain a second connecting line;

and determining a connecting line included angle according to the first connecting line and the second connecting line, and determining the second reachable point as a target point meeting the position mutation condition if the connecting line included angle is smaller than an included angle threshold value.

the method further comprises the steps of:

connecting the first reachable point with the third reachable point to obtain a third connecting line;

determining a connecting line distance between the second reachable point and the third connecting line, and generating a connecting line proportionality coefficient according to the connecting line distance and the length of the third connecting line;

and if the proportion coefficient of the connecting line is larger than a proportion coefficient threshold value, determining the second reachable point as a target point meeting the position abrupt change condition.

Another aspect of an embodiment of the present invention provides an image processing apparatus, including:

the first acquisition module is used for acquiring the remaining mileage parameters of the vehicle;

The second acquisition module is used for acquiring the initial position of the vehicle in the map display interface;

the target area determining module is used for determining a target cruising area in the map display interface according to the starting position and the residual mileage parameter;

the first obtaining module is further configured to display the target cruising area in the map display interface.

Wherein, the target area determining module includes:

a target point determining unit configured to determine a plurality of target points in the map display interface according to the start position and the remaining mileage parameter;

and the connecting unit is used for connecting the plurality of target points in the map display interface to obtain the target cruising area.

Wherein the target point determination unit includes:

an original point determining subunit, configured to determine a plurality of original candidate points according to the starting position and the remaining mileage parameter;

a selecting subunit, configured to select, from the plurality of original candidate points, an original candidate point reachable by the vehicle as a reachable candidate point;

and a target point determination subunit configured to determine the reachable candidate point as a target point.

Wherein the origin determining subunit includes:

The area determining subunit is used for determining an original cruising area in the map display interface according to the starting position and the residual mileage parameter;

the first dividing subunit is used for dividing the original cruising area into at least one unit original cruising area and respectively determining original candidate points in each unit original cruising area.

Wherein the target point determination subunit includes:

the first determination subunit is used for selecting an available alternative point with the largest distance from the initial position from available alternative points in the unit original continuous navigation area as a target point to be determined, wherein the target point corresponds to the unit original continuous navigation area;

and the second determination subunit is used for taking target points to be determined corresponding to all the unit original cruising areas as the target points.

Wherein the selection subunit comprises:

the first acquisition subunit is used for determining an alternative point road network area of the original alternative point;

the first distance determining subunit is used for acquiring the road network data in the alternative point road network area from the road network data set to serve as alternative point road network data;

the first distance determining subunit is further configured to determine the original candidate point as a candidate point if the candidate point road network data is a non-empty set;

The first distance determining subunit is further configured to determine a road network path distance between the candidate point and the starting position according to the road network data set;

the first distance determining subunit is further configured to determine the candidate point as the reachable candidate point if a road network path distance between the candidate point and the starting position is less than or equal to the remaining mileage parameter.

Wherein the region determination subunit includes:

the second acquisition subunit is used for acquiring map scale coefficients corresponding to the map display interface;

the second obtaining subunit is further configured to determine a mileage radius coefficient according to the remaining mileage parameter and the map scale coefficient;

and the circumference determination subunit is used for generating a mileage circumference in the map display interface by taking the initial position as a circle center and the mileage radius coefficient as a radius, and determining a corresponding area of the mileage circumference in the map display interface as the original cruising area.

Wherein the first dividing subunit includes:

the third acquisition subunit is used for acquiring a polar angle interval coefficient and dividing the original cruising area into at least one unit original cruising area according to the polar angle interval coefficient;

The second dividing subunit is used for dividing each unit original cruising area into at least one unit original cruising sub-area; the difference value between the area side length of each unit original endurance sub-area and the first length threshold value is smaller than the difference threshold value;

the second dividing subunit is further configured to use, in the map display interface, a vertex of the original cruising sub-area of each unit as the original candidate point.

Wherein the first acquisition subunit includes:

a fourth obtaining subunit, configured to obtain latitude and longitude information of an original candidate point, and find a target road network data block corresponding to the latitude and longitude information from a plurality of road network data blocks; the road network data set corresponds to the plurality of road network data blocks; each road network data block comprises a plurality of unit road network data blocks;

a searching subunit, configured to search, from a plurality of unit road network data blocks corresponding to the target road network data block, a first unit road network data block corresponding to the longitude and latitude information;

the fourth obtaining subunit is further configured to obtain a second length threshold, and determine a second unit road network data block adjacent to the first unit road network data block according to the second length threshold;

The fourth obtaining subunit is further configured to use a road network area corresponding to the first unit road network data block and a road network area corresponding to the second unit road network data block as an alternative point road network area of the original alternative point.

Wherein the first determining subunit includes:

a second distance determining subunit, configured to determine a map distance between the reachable candidate point in the unit original continuous navigation area and the starting position in the map display interface;

and the third determination subunit is used for taking the reachable alternative point with the maximum map distance as a target point to be determined, which corresponds to the unit original cruising area.

Wherein the first determining subunit includes:

a third distance determining subunit, configured to determine a road network path distance between the reachable alternative point in the unit original continuous navigation area and the starting position, as a candidate road network path distance;

and the fourth determination subunit is used for taking the reachable alternative point with the maximum candidate road network path distance as a target point to be determined, which corresponds to the unit original cruising area.

Wherein, the connection unit includes:

the connecting subunit is used for connecting each target point in a clockwise order or a anticlockwise order to obtain a candidate closed loop;

A deletion subunit configured to delete, from the candidate closed loop, a target point that satisfies a position mutation condition;

and the connection subunit is further configured to connect, in the map display interface, the remaining target points according to the clockwise order or the anticlockwise order, so as to obtain the target cruising area.

the apparatus further comprises:

the first connection module is used for connecting the first reachable point and the second reachable point to obtain a first connection line;

the first connecting module is further used for connecting the second reachable point with the third reachable point to obtain a second connecting line;

and the included angle determining module is used for determining the included angle of the connecting lines according to the first connecting lines and the second connecting lines, and determining the second reachable point as a target point meeting the position mutation condition if the included angle of the connecting lines is smaller than an included angle threshold value.

The apparatus further comprises:

the second connection module is used for connecting the first reachable point and the third reachable point to obtain a third connecting line;

the coefficient determining module is used for determining the connecting line distance between the second reachable point and the third connecting line and generating a connecting line proportionality coefficient according to the connecting line distance and the length of the third connecting line;

and the coefficient determining module is further configured to determine the second reachable point as a target point that meets the position abrupt change condition if the scaling coefficient of the connecting line is greater than a scaling coefficient threshold.

Another aspect of an embodiment of the present invention provides an electronic device, including: a processor and a memory;

the processor is connected to a memory, wherein the memory is configured to store a program, and the processor is configured to invoke the program to perform a method according to an aspect of an embodiment of the present invention.

Another aspect of the embodiments of the present invention provides a computer storage medium storing a computer program comprising program instructions which, when executed by a processor, perform a method as in one aspect of the embodiments of the present invention.

The embodiment of the invention obtains the remaining mileage parameters of the traffic tool; acquiring the initial position of a vehicle in a map display interface; determining a target cruising area in a map display interface according to the initial position and the residual mileage parameters; and displaying the target cruising area in the map display interface. According to the method, compared with the method for manually estimating the target cruising area according to the remaining mileage and the current road condition, the target cruising area is automatically determined on the map interface, so that the actual reachable range of the automobile can be more intuitively displayed for the user, and further, the efficiency of subsequent trip planning can be improved.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a system architecture diagram for image processing according to an embodiment of the present invention;

FIGS. 2 a-2 b are schematic views of an image processing scenario according to an embodiment of the present invention;

Fig. 3a is a schematic flow chart of an image processing method according to an embodiment of the present invention;

fig. 3b is a schematic flow chart of determining a target cruising area according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of determining an original candidate point provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of determining a target point satisfying a position abrupt change condition according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of another embodiment of determining a target point satisfying a position abrupt change condition;

FIG. 7 is a flowchart of another image processing method according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a relationship between a first length threshold and a second length threshold according to an embodiment of the present invention;

fig. 9a is a schematic diagram of determining a first unit road network data block according to an embodiment of the present invention;

fig. 9b is a schematic diagram of determining a second unit road network data block according to an embodiment of the present invention;

FIG. 10a is a schematic diagram of another determination of a second unit road network data block according to an embodiment of the present invention;

FIG. 10b is a schematic diagram of determining candidate points provided by an embodiment of the present invention;

FIG. 11a is a schematic diagram of determining a distance of a road network path according to an embodiment of the present invention;

Fig. 11b is a schematic diagram of a target cruising area according to an embodiment of the present invention;

fig. 12 is a schematic structural view of an image processing apparatus according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Fig. 1 is a system architecture diagram of image processing according to an embodiment of the present invention. The server 10g establishes a connection with a cluster of user terminals and a cluster of cars through the switch 10f and the communication bus 10e, the cluster of user terminals may comprise: the automobile cluster having a binding relationship with the user terminal 10a, the user terminal 10c, etc. may include: automobile 10b, automobile 10d, etc.

Taking the user terminal 10a and the car 10b as an example, when the car navigation in the car 10b is started, the car 10b transmits the remaining mileage and the current position to the server 10g through the switch 10f and the communication bus 10 e. The server 10g determines the actual reachable range of the car 10b on the map based on the remaining mileage and the current position. The server 10g may send the actual reach to the car 10b, which is displayed on a map page of the in-vehicle navigation within the car 10 b. The server 10f may also transmit the actual reachable range to the user terminal 10a having a binding relationship with the car 10b, and the actual reachable range may be displayed together on the map page of the user terminal 10 a.

Of course, the actual reachable range may be determined on the map page by the car (or the user terminal) according to the remaining mileage and the current position of the car, and the actual reachable range may be displayed on the map page of the car navigation (or the map page of the user terminal).

The following will specifically describe how the user terminal 10a determines the actual reachable range of the car based on the remaining mileage and the current position of the car.

The user terminal 10a, the user terminal 10c, etc. shown in fig. 1 may include a mobile phone, a tablet computer, a notebook computer, a palm computer, a mobile internet device (MID, mobile internet device), a wearable device (e.g., a smart watch, a smart bracelet, etc.), etc.

Fig. 2 a-2 b are schematic views of an image processing scenario according to an embodiment of the present invention. As shown in the interface 20b in fig. 2a, the user clicks on the my car App, and starts the App, which is car information for managing the car having a binding relationship with the user terminal 10a, that is, the car may send car information to the user terminal 10a through the internet of vehicles, and the user terminal 10a may send an instruction to the car through the internet of vehicles.

The user terminal 10a obtains the remaining mileage of the car and the current location information of the car, obtains the map scale coefficient of the map page 20a built in the my car App, and determines the radius coefficient according to the map scale coefficient and the remaining mileage. The terminal device 10a determines the original reachable area 20c in the map page 20a with the current position information of the automobile as the center and the radius coefficient as the radius. It will be appreciated that since the original reachable area 20c is a circle determined by the number of mileage remaining, the remaining mileage depletion point must be located within the original reachable area 20c or on the boundary of the original reachable area 20c, whichever direction the vehicle is traveling.

In the map page 20a, the user terminal 10a divides the original reachable area 20b into 4 unit original reachable areas with the center of the original reachable area 20c as the center and with 90 ° as the interval, and the two areas are: it is understood that each of the unit original

reachable areas

20d, 20e, 20f, and 20g is a sector.

For each unit original reachable area, the user terminal 10a determines multiple alternative points in the area respectively, and the number of the alternative points in each unit original reachable area may be the same or different; and the selection modes of the alternative points of the original reachable areas of each unit can be the same or different.

For example, the candidate points may be selected in a random manner in each unit original reachable area, or may be selected in a manner of being spaced apart by the same distance.

As shown in fig. 2a, for the unit original reachable area 20d, the selected candidate points in the area are candidate point 1 and candidate point 2; for the unit original reachable area 20e, the selected alternative points in the area are alternative point 3 and alternative point 4; for the unit original reachable area 20f, the selected alternative points in the area are alternative point 5 and alternative point 6; for the unit original reachable area 20g, the selected alternative points in the area are alternative point 7 and alternative point 8.

The following steps are carried out on the 8 candidate points for filtering and retaining: for all the candidate points, the user terminal 10a invokes the path navigation interface to respectively determine the shortest distance between each candidate point and the current position of the automobile, the user terminal 10a deletes the candidate points with the shortest distance of the road network being greater than the remaining mileage, and conversely, the user terminal 10a reserves the candidate points with the shortest distance of the road network being less than or equal to the remaining mileage. When the candidate point is located in a road network unreachable area, for example, in a river, a mountain area, a closed area, or the like, it is described that the road network shortest distance between the candidate point and the current position of the automobile is infinity.

After filtering part of the candidate points, the remaining candidate points in each unit original reachable area need to be filtered again, and the specific process of the filtering again is as follows: the user terminal 10a only reserves the candidate points farthest from the center of the circle (i.e., the current position of the car) in each unit original reachable area, and filters the rest of the candidate points in each unit original reachable area. The distance measurement may be the distance in the map page 20a or the shortest distance between roads and networks.

As shown in fig. 2a, for the unit original reachable area 20d, the last reserved is the alternative point 1 and the alternative point 2 (since the alternative point 1 and the alternative point 2 are points on the circumference, the two alternative points may be reserved at the same time); for the unit original reachable area 20e, the last remaining is the candidate point 4; for the unit original reachable area 20f, the last remaining is the candidate point 6; the last remaining is the candidate 7 for the unit original reachable area 20 g.

In the map page 20a, the user terminal 10a connects the reserved candidate points, that is, the candidate point 1, the candidate point 2, the candidate point 4, the candidate point 6, and the candidate point 7 in order in the clockwise order or the counterclockwise order, and after the connection, the actual reachable area 20h can be determined in the map page 20a, and the actual reachable area 20h is rendered in the map page 20a, that is, the actual reachable area 20h is marked in the map page 20 a.

If the remaining mileage is less than or equal to the mileage threshold, the user terminal 10a may render the boundary of the actual reachable area 20h with red; if the remaining mileage is greater than the mileage threshold, the user terminal 10a may render the boundary of the actually reachable area 20h with blue. Of course, instead of rendering the boundaries of the actual reachable area 20h with different colors for prompting the user, lines of different thicknesses may be employed, or the boundaries of the actual reachable area 20h may be rendered with solid broken lines for prompting the user.

As shown in the interface 20x in fig. 2b, after the my car APP is started, before entering the APP, a preset animation may be played on the screen of the user terminal, and at the same time, the user terminal 10a may determine the actual reachable area 20h in the map page 20a in parallel. When it is detected that the determination of the actual reachable area 20h is completed, as shown in the interface 20y, the animation is stopped, the APP home page is entered, the map page 20a rendered with the actual reachable area 20h is displayed on the home page, and in the APP home page, the license plate of the automobile, the name of the owner, the number of remaining mileage (i.e. the duration of the journey in fig. 2 b) and the remaining electric quantity (or the remaining oil quantity) and the like having binding relation with the user terminal 10a may be displayed together. Thus, the user can check the furthest distance range that the automobile can travel through the user terminal 10a, and planning of the journey is facilitated.

Subsequently, the user terminal 10a may send the map page 20a with the rendered actual reachable area 20h to the car having a binding relationship with the user terminal 10a, and when the car navigation is started, the map page 20a with the rendered actual reachable area 20h may be displayed on a display screen of the car, so as to prompt the owner of the actual reachable range of the car.

Specific processes of determining the original cruising area (such as the original reachable area 20c in the corresponding embodiment of fig. 2 a), generating the original candidate point (such as the candidate 1, the candidate point 2..and the candidate point 8 in the corresponding embodiment of fig. 2 a), and determining the target cruising area (such as the actual reachable area 20h in the corresponding embodiment of fig. 2 a) can be referred to the embodiments corresponding to fig. 3 a-11 b.

Referring to fig. 3a, a flowchart of an image processing method according to an embodiment of the present invention is shown in fig. 3a, where the image processing method may include:

step S101, obtaining the remaining mileage parameters of the vehicle.

The image processing process of the invention relates to an automobile and terminal equipment, wherein an execution main body of the following steps can be the automobile or the terminal equipment; if the execution subject is an automobile, the automobile can send the area data to the terminal equipment with binding relation after determining the target cruising area; if the execution subject is a terminal device, the terminal device can send the region data to the automobile with binding relation after determining the target cruising region. The following embodiments all describe the terminal device as the execution body.

Specifically, the terminal device (e.g., the user terminal 10a in the corresponding embodiment of fig. 2a described above) obtains the remaining mileage parameters of the vehicle (e.g., automobile); the remaining mileage parameter may be a distance length that the vehicle can travel based on the current electric quantity or oil quantity, for example, the remaining mileage parameter is 200km, and the vehicle sends the remaining mileage parameter to the terminal device through the internet of vehicles.

Step S102, acquiring the initial position of the vehicle in a map display interface.

Specifically, the terminal device obtains a current position of the vehicle, where the current position may also be sent by the vehicle to the terminal device through the internet of vehicles.

The terminal device determines the starting position in the map display interface (e.g. map page 20a in the corresponding embodiment of fig. 2a described above) based on the current position of the vehicle.

And step S103, determining a target cruising area in the map display interface according to the initial position and the residual mileage parameter.

Specifically, the terminal device may randomly determine a plurality of target points around the start position in the map display interface with the start position as a center. In the map display interface, the above-mentioned multiple target points are connected, and the obtained region is called a target cruising region (e.g. the actual reachable region 20h in the corresponding embodiment of fig. 2 a).

Optionally, the terminal device obtains a map scale coefficient of the map display interface, where the map scale coefficient is a ratio of a length of a line segment on the map display interface to a length of a horizontal projection of a corresponding line segment in the field.

Since the remaining mileage parameter is a field distance, in order to determine the distance of the remaining mileage parameter on the map display interface, the terminal device determines a mileage radius coefficient according to the remaining mileage parameter and the map scale coefficient.

For example, the map scale coefficients are: 1cm to 10km, if the remaining mileage parameters are 100km, and according to the equal proportion relation, the mileage radius coefficient is 10cm, namely the field distance is 100km, and the distance on the map display interface is 10cm.

In the map display interface, the terminal equipment takes the starting position as a circle center, takes the mileage radius coefficient as a radius, generates a circle (called mileage circle), and takes a corresponding area of the mileage circle in the map display interface as a target cruising area.

Optionally, in addition to the above 2 manners of determining the target endurance area, the following method may be used to determine the target endurance area: in the map display interface, the terminal device generates a circle (called a mileage circle) with the starting position as the center and the mileage radius coefficient as the radius, and takes the corresponding area of the mileage circle in the map display interface as the original cruising area (such as the original reachable area 20c in the corresponding embodiment of fig. 2 a).

It can be known that, since the original cruising area is a circle determined on the map display interface according to the remaining mileage parameters, the original cruising area is irrelevant to the real road network, and the real road is generally curved, no matter in which direction the vehicle is driven, the oil quantity exhaustion point or the electric quantity exhaustion point is necessarily within the original cruising area or on the boundary of the original cruising area.

Optionally, in the map display interface, the terminal device generates a square area with the start as the center, wherein the distance between the center and the vertex of the forward direction area may be equal to the mileage radius coefficient. Likewise, the terminal device may use the square area as the original cruising area.

Optionally, in the map display interface, the terminal device generates a regular hexagonal area with a start as a center, wherein a distance between the center of the regular hexagonal area and each vertex may be equal to a mileage radius coefficient. Likewise, the terminal device may use the regular hexagonal area as the original endurance area.

Determining a plurality of original candidate points (for example, the plurality of original candidate points can be determined in a random manner) in the original continuous navigation area, and selecting an original candidate point which is reachable by the vehicle from the plurality of original candidate points as a reachable candidate point; wherein the reachable vehicle means that the road network path distance between the reachable alternative point and the starting position is smaller than or equal to the remaining mileage parameter. The road network path distance refers to the real road distance between the point a and the point B, and is generally greater than the straight line distance between the two points because the road has a bend and the straight line distance between the two points is the shortest.

If the original candidate point is located in a non-reachable area of the road network such as a river, a mountain area, a closed control area and the like, the road network path distance between the original candidate point and the starting position is infinite, that is, the original candidate point located in the non-reachable area of the road network is deleted, and the original candidate point is not used as the reachable candidate point.

And taking all the reachable alternative points as target points, and connecting the plurality of target points in a map display interface, wherein the obtained region is called a target cruising region.

Step S104, displaying the target cruising area in the map display interface.

Specifically, the terminal device may render the target endurance area in the map display interface, that is, mark the target endurance area in the map display interface.

If the remaining mileage parameters are smaller than or equal to the mileage threshold, the terminal equipment can adopt red to render the boundary of the real target endurance area; if the remaining mileage parameter is greater than the mileage threshold, the terminal device may render the boundary of the real target endurance area with blue. Of course, in addition to the boundary of the target endurance area being rendered by different colors, lines with different thicknesses or solid-line broken lines may be used to render the boundary of the target endurance area, and even the whole target endurance area may be rendered by different colors.

Referring to fig. 3b, a flowchart of determining a target endurance area according to an embodiment of the present invention is provided, the determining the target endurance area includes steps 201 to 204, and steps 201 to 204 are specific embodiments of the third manner of determining the target endurance area in step S103 in the corresponding embodiment of fig. 3 a.

Step S201, determining a plurality of original candidate points according to the starting position and the remaining mileage parameters.

In the map display interface, the terminal equipment takes the starting position as the center of a circle, takes the mileage radius coefficient as the radius, generates the mileage circumference, and takes the corresponding area of the mileage circumference in the map display interface as the original cruising area.

The terminal device obtains the polar angle interval coefficient, uses the starting position as the center, uses the polar angle interval coefficient as the interval, divides the original cruising area, and can obtain a plurality of unit original cruising areas (such as the unit original reachable area 20d, the unit original reachable area 20e, the unit original reachable area 20f and the unit original reachable area 20g in the corresponding embodiment of fig. 2 a), and the area and the shape of each unit original cruising area can be the same.

It can be known that if the original cruising area is circular, each unit original cruising area is a sector, and the central angle of the sector is equal to the polar angle interval coefficient.

When the original cruising area is circular, in order to make the area and the shape of the divided unit original cruising area identical, the polar angle interval coefficient is ensured to be divided by 360 degrees, so that the original cruising area can be divided into N identical unit original cruising areas, and N is an integer greater than or equal to 1.

Generally, as the polar angle interval coefficient is smaller, the final depicted target cruising area is finer, and correspondingly, the calculated amount and the data amount are increased; when the polar angle interval coefficient is larger, the number of divided unit original cruising areas is smaller, so that the final depicted target cruising area is not accurate enough. Therefore, in order to balance the calculated amount and the fineness of the target endurance area, the invention determines that the calculated amount and the fineness of the target endurance area can reach better balance through multiple experiments when the polar angle interval coefficient is equal to 10 degrees.

Optionally, if the original cruising area is square, the terminal device may still divide the original cruising area according to the polar angle interval coefficient with the starting position as the center, and then obtain a unit original cruising area of a plurality of triangles or quadrilaterals, where the angle of the vertex angle of the unit original cruising area with respect to the starting position is equal to the polar angle interval coefficient.

Optionally, if the original cruising area is a regular hexagon, the terminal device still uses the initial position as the center, the polar angle interval coefficient is equal to 60 ° as the interval, after dividing the original cruising area, the unit original cruising area of 6 equilateral triangles can be obtained, and the vertex angle of the unit original cruising area is equal to 60 °.

The terminal equipment divides each unit original cruising area to obtain one or more unit original cruising subareas, wherein the division principle is that the difference between the side length of each unit original cruising subarea (the side length refers to the length in a map display interface) and a first length threshold is smaller than a preset difference threshold.

In the map display interface, the terminal device takes the vertex of each unit original cruising subarea as an original candidate point (such as candidate 1, candidate point 2, candidate point 8 in the corresponding embodiment of fig. 2 a).

The following describes a specific process of dividing a unit original endurance area into one or more unit original endurance sub-areas and determining a plurality of original candidate points: referring to fig. 4, a schematic diagram of determining an original candidate point according to an embodiment of the present invention is provided, where an original cruising area is uniformly divided into 8 units of original cruising areas, and one unit of the original cruising areas is described below, so that it can be known that the unit of original cruising area is fan-shaped. The terminal equipment cuts the unit original endurance area from two dimensions of the radius and the radius, wherein the radius refers to a crossed curve between a concentric circle curve of the original endurance area and the unit original endurance area, the radius refers to a line segment from a point on the circumference of the unit original endurance area to a fan-shaped vertex, and the cutting target is that the difference between the side length of a curved side rectangle or a curved side triangle enclosed between each radius and a first length threshold is smaller than a preset difference threshold. As can be seen from fig. 4, by the segmentation of the radius and the polar diameter, the unit original cruising area can be segmented into 9 unit original cruising sub-areas, and the side length of each unit original cruising sub-area is approximately equal to the first length threshold.

The endpoint device may use the vertices of all the unit original endurance sub-areas as original candidate points, and as can be seen from fig. 4, the 9 unit original endurance sub-areas correspond to 12 candidate points.

Optionally, the vertices of all unit original cruising subareas are used as original candidate points, and because the outer radius of the fan is larger than the inner radius, the distance between two adjacent original candidate points at the outer radius is necessarily larger than the distance between two adjacent original candidate points at the inner radius, so that the distances between all original candidate points are approximately equal, and for the original candidate points at the inner radius, a part of the original candidate points need to be filtered, and the aim is to approximately equal the distances between all the retained original candidate points.

For example, for the 4 original candidate points located at the outermost ring in fig. 4, the distance must be greater than the distance between the 4 original candidate points located at the innermost ring, so for the 4 original candidate points at the innermost ring, 2 original candidate points may be filtered out such that the distance between the remaining original candidate points is approximately equal to the distance between the 4 original candidate points located at the outermost ring.

Step S202, selecting an original candidate point reachable by the vehicle from the plurality of original candidate points as a reachable candidate point.

Specifically, the following describes how to determine whether an original candidate point is an reachable candidate point, taking the original candidate point as an example. The terminal device determines the road network path distance between the original candidate point and the starting position, the road network path distance refers to the real road distance between the point a and the point B, and generally, the road network path distance is greater than the straight line distance between the two points, because the road is bent, and the straight line distance between the two points is the shortest.

To avoid confusion, we reiterate here the distinction between 3 distances, the distance in the map display interface is the page distance, which is generally small, typically in cm; the distance in the map display interface can correspond to a straight line distance in the real world, and the distance is in proportional relation with the straight line distance; the road path distance refers to a road path distance (or path planning distance), and generally, the true straight line distance between the point a and the point B is smaller than or equal to the road path distance.

The original candidate points have corresponding road network path distances, the original candidate points corresponding to the road network path distances larger than the residual mileage parameters are deleted, the original candidate points corresponding to the road network path distances smaller than or equal to the residual mileage parameters are reserved, the reserved original candidate points can be used as reachable candidate points by the terminal equipment, and the real road network positions corresponding to the reachable candidate points are positions which can be reached by the vehicle based on the residual mileage parameters.

It should be noted that, if the original candidate point is located in a region where the road network is not reachable, for example, in a river, a mountain area, a closed control region, etc., it is noted that the road network path distance between the original candidate point and the starting position is infinity, that is, the original candidate point located in the region where the road network is not reachable is deleted, and is not taken as the reachable candidate point.

Step S203, determining the reachable candidate point as a target point.

Specifically, the terminal device determines the distance (called the map distance) between the starting position and each reachable candidate point in the map display interface, and in each unit original continuous navigation area, the reachable candidate point with the maximum map distance is used as the target point to be determined of the original continuous navigation area.

Optionally, the terminal device determines a road network path distance (called a candidate road network path distance) between the starting position and each reachable candidate point, and in each unit original continuous navigation area, the reachable candidate point with the largest candidate road network path distance is used as a target point to be determined of the original continuous navigation area.

For each unit original continuous area and each original alternative point, the reachable alternative points in each unit original continuous area can be respectively determined according to the mode, then the target points to be determined, which are farthest from the initial position in each unit original continuous area, are respectively determined, and finally the target points to be determined of all unit original continuous areas are taken as target points.

Step S204, connecting the plurality of target points in the map display interface to obtain the target cruising area.

Specifically, in the map display interface, the terminal device may connect each target point in a clockwise order or a counterclockwise order, so as to obtain a candidate closed loop. The terminal device can directly take the corresponding region of the candidate closed loop in the map display interface as the target cruising region.

Because the road network distribution is very complex, the boundary smoothing treatment can be further carried out on the candidate closed loop so as to reduce the abnormal influence of singular points caused by the road network singular distribution on the drawing of the target endurance area range, and the terminal equipment takes the area after the boundary smoothing treatment as the target endurance area.

And carrying out boundary smoothing on the candidate closed loop, namely finding out a target point meeting the position mutation condition, deleting the target point meeting the position mutation condition, and connecting the rest target points according to the clockwise direction or the anticlockwise direction, wherein the obtained region is the target cruising region after the boundary smoothing. The abrupt position change means that the target point transitions to a bump or a pit.

There are 2 ways for the terminal device to perform boundary smoothing on the candidate closed loop, and one of them will be described below: the terminal device extracts 3 target points from all the target points, namely a first reachable point, a second reachable point and a third reachable point, wherein in the candidate closed loop, the second reachable point is adjacent to the first reachable point, the second reachable point is adjacent to the third reachable point, in short, the second reachable point is positioned in the middle, and the first reachable point and the third reachable point are positioned at two sides.

The terminal equipment is connected with the first reachable point and the second reachable point to obtain a first connecting line; the terminal equipment connects the second reachable point and the third reachable point to obtain a second connecting line, and uses the included angle between the first connecting line and the second connecting line as the connecting line included angle (because the intersection point of the first connecting line and the second connecting line is the second reachable point, the included angle exists between the first connecting line and the second connecting line). If the included angle of the connecting line is smaller than the included angle threshold, the second reachable point is the target point meeting the position mutation condition, and the terminal equipment can delete the second reachable point.

The terminal device may continue to extract 3 target points from the remaining target points, respectively as the first reachable point, the second reachable point and the third reachable point, and determine again whether the second reachable point satisfies the position mutation condition. And continuously cycling until no target point meeting the position mutation condition exists in the rest target points.

For example, please refer to fig. 5, which is a schematic diagram of determining a target point satisfying a position abrupt change condition according to an embodiment of the present invention, as shown in fig. 5, the candidate closed loop includes: target point A, target point B, target point C, target point D, target point E, and target point F. The terminal device may first take the target point a as a first reachable point, take the target point B as a second reachable point, and take the target point C as a third reachable point, where ++abc is greater than the angle threshold, so that the target point B does not satisfy the position abrupt change condition. The terminal equipment takes the target point B as a first reachable point, takes the target point C as a second reachable point and takes the target point D as a third reachable point, and the target point C is a target point which does not meet the position abrupt change condition because the angle BCD is larger than the threshold value of the angle. Similarly, when the target point E is the first reachable point, the target point F is the second reachable point, and the target point a is the third reachable point, the target point F is the target point satisfying the position abrupt change condition because the ++efa is smaller than the angle threshold, and the terminal device can delete the target point F. And the subsequent terminal equipment judges whether the target point meeting the position mutation condition exists again according to the residual target points. As shown in fig. 5, after deleting the target point F, the remaining target points a, B, C, D, and E do not satisfy the abrupt position condition, so the terminal device may connect the remaining target points a, B, C, D, and E in a clockwise order or a counterclockwise order, and the area obtained after the connection is the target cruising area after the boundary smoothing process.

Another way of smoothing the candidate closed loop is described below: the terminal device extracts 3 target points from all the target points, namely a first reachable point, a second reachable point and a third reachable point, wherein in the candidate closed loop, the second reachable point is adjacent to the first reachable point, the second reachable point is adjacent to the third reachable point, in short, the second reachable point is positioned in the middle, and the first reachable point and the third reachable point are positioned at two sides.

The terminal equipment is connected with the first reachable point and the third reachable point to obtain a third connecting line, the distance between the second reachable point and the third connecting line (called the connecting line distance) is determined, the length of the third connecting line is determined, and the connecting line distance is divided by the length of the third connecting line to obtain a ratio called a connecting line proportionality coefficient. If the proportion coefficient of the connecting line is larger than the preset proportion coefficient threshold value, the terminal equipment can take the second reachable point as a target point meeting the position abrupt change condition, and the terminal equipment can delete the second reachable point.

For example, please refer to fig. 6, which is a schematic diagram of another determination of a target point satisfying a position abrupt change condition according to an embodiment of the present invention, as shown in fig. 6, the candidate closed loop includes: target point A, target point B, target point C, target point D, target point E, and target point F.

The terminal device may first take the target point a as a first reachable point, take the target point B as a second reachable point, and take the target point C as a third reachable point, where the distance between the target point B and the line segment AC divided by the length of the line segment AC is smaller than a preset scaling factor threshold, so that the target point B does not satisfy the position abrupt change condition. The terminal device takes the target point B as a first reachable point, takes the target point C as a second reachable point, and takes the target point D as a third reachable point, and the distance between the target point C and the line segment BD divided by the length of the line segment BD is smaller than a preset proportionality coefficient threshold, so that the target point C does not meet the condition of abrupt position change. Similarly, when the target point E is the first reachable point, the target point F is the second reachable point, and the target point a is the third reachable point, the terminal device may delete the target point F because the distance D1 between the target point F and the line AE (i.e., the distance between the connecting lines in the foregoing) divided by the length D2 of the line AE (i.e., the length of the third connecting line in the foregoing) is greater than the preset scaling factor threshold. As shown in fig. 6, after deleting the target point F, the remaining target points a, B, C, D, and E do not satisfy the abrupt position condition, so the terminal device may connect the remaining target points a, B, C, D, and E in a clockwise order or a counterclockwise order, and the area obtained after the connection is the target cruising area after the boundary smoothing process.

Referring to fig. 7, a flowchart of another image processing method according to an embodiment of the present invention is shown in fig. 7, where the image processing method may include:

step S301, obtaining the remaining mileage parameters of the vehicle, and obtaining the starting position of the vehicle in the map display interface.

The specific process of step S301 may be referred to the description of step S101-step S102 in the corresponding embodiment of fig. 3a, which is not repeated here.

Step S302, determining a plurality of original candidate points according to the starting position and the residual mileage parameters.

The specific process of step S302 may be referred to the description of step S201 in the corresponding embodiment of fig. 3b, which is not described herein.

Step S303, determining an alternative point road network area of an original alternative point, and acquiring road network data in the alternative point road network area from a road network data set as alternative point road network data.

Specifically, the following describes how to determine the alternative point road network data of an original alternative point, taking the original alternative point as an example.

The terminal equipment acquires a second length threshold value, and in the real road network, the real position corresponding to the original alternative point is used as the circle center, the second length threshold value is used as the radius, and the circumference is determined, wherein the area corresponding to the circumference is the alternative point road network area; it is understood that the second length threshold refers to the true straight line distance.

Alternatively, the alternative point road network area may be square instead of circular. In the real road network, the real position corresponding to the original alternative point is taken as the center, the distance from the center to the top point is taken as the second length threshold value, and the square corresponding area is the alternative point road network area. Wherein the second length threshold may be equal to 1km.

When the second length threshold is 1km, the alternative point road network area can be understood as: the real road area 1km around the original candidate point is the candidate point road network area.

It should be noted that, according to the scale factor of the map display interface and the first length threshold (the first length threshold is used for dividing the original cruising sub-area of a plurality of units), the first length threshold may be converted into a true straight line distance a, where the true straight line distance a and the second length threshold B satisfy the following relationship: a=2×b, and the second length threshold is the best empirical value determined by a plurality of experiments, and the first length threshold is determined by the above relationship.

For example, when the second length threshold is equal to 1km, the real straight line distance a corresponding to the first length threshold is 2km, and on the premise that the real straight line distance a and the second length threshold B satisfy a 2-time relationship, all the candidate road network areas corresponding to the original candidate points respectively can basically cover the real road area corresponding to the original cruising area, so that the road area is prevented from being missed, and the finally determined target cruising area can be more accurate.

Referring to fig. 8, a schematic diagram of a relationship between a first length threshold and a second length threshold provided in an embodiment of the present invention is illustrated by taking 4 original candidate points (an original candidate point a, an original candidate point B, an original candidate point C, and an original candidate point D) as an example. The alternative road network area corresponding to the original alternative point A is an area 70a; the alternative road network area corresponding to the original alternative point B is an area 70B; the alternative road network area corresponding to the original alternative point C is an area 70C; the alternative road network area corresponding to the original alternative point D is the area 70D. As can be seen from fig. 7, the 4 alternative road network areas can substantially cover the real road area formed by the 4 original alternative points in the road network area, just because of the 2-fold relationship existing. Therefore, the road area can be prevented from being missed, and the finally determined target cruising area is more accurate.

And the terminal equipment acquires the road network data of each alternative point road network area from the road network data set and takes the road network data as the alternative point road network data.

The following describes how to obtain the road network data contained in an alternative point road network area: the road network data set can be stored in a database according to an organization form of < Block, rec >, wherein Block is a road network data Block, and Rec is a unit road network data Block. The road network data set may correspond to a plurality of blocks, where each Block includes a plurality of recs, and each Rec may not include road network data, may include one road network data, and may include a plurality of road network data. All the road network data contained in the Rec can be combined into a road network data set, the blocks are approximately equal, and the Rec contained in each Block is also approximately equal, so in order to determine the road network data contained in the alternative point road network region, the Rec of the alternative point road network region needs to be determined firstly in logic.

The corresponding actual side length of each Block may be 12.5km by 8.33km, the corresponding actual side length of each Rec may be 100m by 100m, it may also be understood that each Block may correspond to a real road network area, the road network area may be a rectangle with side length of 12.5km by 8.33km, each Rec may also correspond to a real road network area, the road network area may be a rectangle with side length of 100m by 100m, and logically adjacent Rec (or Block) may also be adjacent in the real road network area.

The method comprises the steps that a terminal device obtains longitude and latitude information of a road network area where an original candidate point is located, wherein the longitude and latitude information comprises precision and latitude, road network data blocks corresponding to the longitude and latitude information are searched from a plurality of road network data blocks and used as target road network data blocks, the road network data blocks can be searched in a geometric hash mode, the geometric hash searching mode means that a hash function h (x, y) exists, the precision and the latitude in the longitude and latitude information are used as x, y to be substituted into the hash function, a hash value z is obtained, and the hash value = id of the road network data blocks, namely, the target road network data blocks corresponding to the longitude and latitude information can be searched through the longitude and latitude information and the hash function.

The terminal device searches 4 boundary longitude and latitude coordinates corresponding to the target data block, and can determine the unit road network data block (called a first unit road network data block) corresponding to the longitude and latitude information according to the number of the unit road network data blocks contained in the target road network data block.

For example, please refer to fig. 9a, which is a schematic diagram of determining a first unit road network data block according to an embodiment of the present invention, the road network data block shown in fig. 9a includes 12 unit road network data blocks (respectively, unit road network data block 1, unit road network data block 2,..and unit road network data block 12), and 4 boundary longitude and latitude coordinates of the road network data block are (0, 0), (80, 0), (0,80), (80, 80), if longitude and latitude information corresponding to the original candidate point 1 is (25, 25), since the 12 unit road network data blocks are uniformly divided, it can be calculated that the unit road network data block corresponding to the longitude and latitude information (25, 25) is the unit road network data block 6, that is, the unit road network data block 6 is the first unit road network data block.

The terminal equipment acquires a second length threshold value, and determines a second unit road network data block according to the second length threshold value and the first unit road network data block, wherein the real linear distance between the second unit road network data block and the first unit road network data block is smaller than or equal to the second length threshold value.

The terminal device may use the road network area corresponding to the first unit road network data block and the road network area corresponding to the second unit road network data block as the alternative point road network areas.

In order to quickly determine the second unit road network data block, the terminal device does not need to determine whether each unit road network data block is the second unit road network data block, the ratio of the second length threshold value to the real side length corresponding to the unit road network data block can be used as a data block coefficient, then the first unit road network data block is used as a center to extend towards 4 directions (including horizontal right, horizontal left, vertical upward and vertical downward), the number of unit road network data blocks which are extended is equal to the data block coefficient, the unit road network data blocks which are contained in the rectangular area and are except the first unit road network data block are all second unit road network data, and the road network area corresponding to the rectangular area which is obtained after extension is the alternative point road network area.

For example, referring to fig. 9b, which is a schematic diagram of determining a second unit road network data block according to an embodiment of the present invention, the road network data block a shown in fig. 9b includes 36 unit road network data blocks, and the unit road network data block 1 is a first unit road network data block, if the second length threshold is 200m and the actual side length corresponding to the unit road network data block is equal to 100m, the data block coefficient=200/100=2, the unit road network data block 1 is taken as the center, the distance of 2 unit road network data blocks is extended in the horizontal left direction, the distance of 2 unit road network data blocks is extended in the horizontal right direction, the distance of 2 unit road network data blocks is extended in the vertical upward direction, and the distance of 2 unit road network data blocks is extended in the vertical downward direction, so that the unit road network data blocks except for the unit road network data block 1 in the determined area 80a are all second unit road network data blocks.

According to the method, the candidate point area corresponding to each original candidate point, the first unit road network data block and the second unit road network data block can be determined, and in order to determine whether the road network data exists in the candidate point area, the terminal equipment extracts the road network data contained in the first unit road network data block from the database, extracts the road network data contained in the second unit road network data block, and uses the extracted road network data as a road network data set.

Since the second unit road network data Block needs to extend outwards, and therefore, the case that the second unit road network data Block corresponds to a plurality of blocks exists, please refer to fig. 10a, which is another schematic diagram for determining the second unit road network data Block provided in the embodiment of the present invention, fig. 10a includes 4 road network data blocks (respectively, road network data Block 1, road network data Block 2, road network data Block 3 and road network data Block 4), and the unit road network data Block 2 is the first unit road network data Block, when the data Block coefficient is equal to 2, it may be determined that the unit road network data blocks except for the unit road network data Block 2 in the area 80b are all the second unit road network data blocks according to the above manner, and it may be known that the second unit road network data Block belongs to 4 road network data blocks, for this case, the terminal device needs to search the road network data included in the first unit road network data Block and the road network data included in the second unit road network data Block from the 4 road network data blocks in the database, respectively, as the alternative point road network data.

And step S304, if the alternative point road network data is a non-empty set, determining the original alternative point as a candidate point.

Specifically, if the alternative point road network data is a non-empty set, that is, a real road exists in the alternative point road network area (that is, the alternative point road network area is not located in a river, a mountain area or a closed control area), the terminal device may take the original alternative point as the candidate point.

Please refer to fig. 10b, which is a schematic diagram of determining candidate points according to an embodiment of the present invention, fig. 10b includes 12 original candidate points (original candidate points a,..and original candidate point L, respectively), and point S is a starting position. In fig. 10b, if there is a road network data connection between two original candidate points, connecting the two candidate points with a solid line; if no road network data connection exists between the two original alternative points, the two alternative points are connected by a dotted line. As can be seen from fig. 10B, since the original candidate point a, the original candidate point B, the original candidate point C and the original candidate point D are in the lake area, no road network data exists in the candidate road network areas corresponding to the 4 original candidate points, so that the terminal device can filter the original candidate point a, the original candidate point B, the original candidate point C and the original candidate point D; in contrast, the route network data exists in the route network regions corresponding to the remaining 8 original candidate points (namely, the original candidate points E, the..and the original candidate points L), and the terminal device can use the remaining 8 original candidate points as candidate points.

Step S305, determining a road network path distance between the candidate point and the starting position according to the road network data set.

For the selected candidate points, the terminal device may invoke a path planning interface to determine a road network path distance between each candidate point and the starting position, where the road network path distance refers to a real road distance (or path planning distance) between the two points.

The path planning interface determines the path distance between the candidate point and the starting position, which can be based on Dijkstra algorithm in path planning or A search algorithm, wherein the two algorithms belong to shortest path algorithm, dijkstra algorithm has higher precision and large calculated amount; correspondingly, the accuracy of the search algorithm is reduced, but the calculation amount is small. The following describes in detail how to determine the road network path distance between the candidate point and the starting position, taking the search algorithm a as an example.

Referring to fig. 11a, a schematic diagram for determining a road network path distance according to an embodiment of the present invention is provided, in order to determine a road network path distance (also the shortest distance) from a vertex V0 to a vertex V5, an open list and a close list are first generated, and both lists are empty sets. The terminal equipment firstly adds (V0, 0) into an open list, and the open list contains (V0, 0); the close list is empty and the first element in (V0, 0) represents the vertex and the second element represents the distance between the vertex and the starting vertex V0.

The terminal device adds the vertex adjacent to V0 to the open list, and adds (V0, 0) to the close list, where the open list contains: (V2, 10), (V4, 30), (V5, 100), the close list contains (V0, 0).

Selecting the minimum V2 from the open list, adding the vertex adjacent to the V2 into the open list by the terminal equipment, and adjusting the distance between each vertex and V0, wherein the open list comprises: (V1, 15), (V4, 30), (V3, 60), (V5, 100), the close list contains (V0, 0), (V2, 10).

Since V1 is already a boundary vertex, V1 is deleted from the open list. And selecting the minimum V4 from the open list to be added into the close list, adding the vertex adjacent to the V4 into the open list by the terminal equipment, and adjusting the distance between each vertex and V0, wherein the open list comprises: (V3, 50), (V5, 90), (V5, 100), the close list contains (V0, 0), (V2, 10), (V4, 30).

Selecting the minimum V3 from the open list, adding the minimum V3 to the close list, adding the vertex adjacent to the V3 to the open list by the terminal equipment, and adjusting the distance between each vertex and V0, wherein the open list comprises: (V5, 60), close list contains (V0, 0), (V2, 10), (V4, 30), (V3, 50).

Selecting V5 from the open list to add to the close list, where the open list is an empty set, the close list contains (V0, 0), (V2, 10), (V4, 30), (V3, 50), (V5, 60).

Thus, the road network path distance from the vertex V0 to the vertex V5 is determined to be 60, and the corresponding path is V0- & gt V2- & gt V4- & gt V3- & gt V5.

Whether the search algorithm is an a or Dijkstra algorithm, the shortest path distance (road network path distance) between two points is determined according to a topological graph, for a road network data set, the intersection point of two roads corresponds to the vertex of the topological graph, the distance between the roads corresponds to the weight between the two vertices in the topological graph, and according to the method, the corresponding topological graph can be generated by the road network data set, and then the road network path distance is determined based on a path planning algorithm.

And step S306, if the road network path distance between the candidate point and the starting position is smaller than or equal to the residual mileage parameter, determining the candidate point as the reachable candidate point.

Candidate points with the road network path distance smaller than or equal to the residual mileage parameter between the candidate points and the initial position are used as reachable candidate points; correspondingly, candidate points with the road network path distance between the candidate points and the starting position being greater than the residual mileage parameter are filtered out.

Step S307, determining the reachable candidate point as a target point, and connecting the plurality of target points in the map display interface to obtain the target cruising area.

The specific process of step S307 may be referred to the description of step S203-step S204 in the corresponding embodiment of fig. 3b, which is not repeated here.

Step S308, displaying the target cruising area in the map display interface.

The specific process of step S308 may be referred to the description of step S104 in the corresponding embodiment of fig. 3a, which is not described herein.

Fig. 11b is a schematic diagram of a target endurance area according to an embodiment of the present invention. As can be seen from fig. 11b, the starting position of the vehicle is very close to the sea area, so that when the terminal device selects an reachable alternative point for the vehicle from the plurality of original alternative points, those original alternative points in the sea area will be determined as being unreachable points for the vehicle, and thus the original alternative points in the sea area will be filtered, and those original alternative points left reachable for the vehicle can be taken as reachable alternative points. Further, after determining the reachable candidate points, for each unit original cruising area, the terminal device may use the reachable candidate point farthest from the starting position as the target point. And finally, connecting all target points on the map display interface by the terminal equipment according to the clockwise order or the anticlockwise order, wherein the obtained area is the target cruising area.

Compared with the method for manually estimating the target endurance area according to the residual mileage data, the method for automatically determining the target endurance area on the map interface can more intuitively show the actual reachable range of the automobile to the user, and further can improve the efficiency of subsequent journey planning; further, the target endurance area determined by the invention is composed of a plurality of points which are farthest from the starting point and can be reached, so that the target endurance area has high precision.

Further, please refer to fig. 12, which is a schematic diagram illustrating a structure of an image processing apparatus according to an embodiment of the present invention. As shown in fig. 12, the image processing apparatus 1 may be applied to the terminal device in the above-described embodiment corresponding to fig. 3a to 11b, and the image processing apparatus 1 may include: a first acquisition module 11, a second acquisition module 12, a target area determination module 13.

A first obtaining module 11, configured to obtain a remaining mileage parameter of a vehicle;

a second obtaining module 12, configured to obtain a starting position of the vehicle in a map display interface;

the target area determining module 13 is configured to determine a target cruising area in the map display interface according to the starting position and the remaining mileage parameter;

The first obtaining module 11 is further configured to display the target cruising area in the map display interface.

The specific functional implementation manners of the first acquiring module 11, the second acquiring module 12, and the target area determining module 13 may refer to step S101 to step S104 in the corresponding embodiment of fig. 3a, which are not described herein.

Referring to fig. 12, the target area determining module 13 may include: a target point determination unit 131, a connection unit 132.

A target point determining unit 131 for determining a plurality of target points in the map display interface according to the starting position and the remaining mileage parameter;

and the connection unit 132 is configured to connect the plurality of target points in the map display interface to obtain the target cruising area.

The specific functional implementation manner of the target point determining unit 131 and the connecting unit 132 may refer to step S103 in the corresponding embodiment of fig. 3a, which is not described herein.

Referring to fig. 12, the target point determination unit 131 may include: an origin determination subunit 1311, a selection subunit 1312, a destination determination subunit 1313.

An origin determining subunit 1311, configured to determine a plurality of origin candidate points according to the starting location and the remaining mileage parameter;

A selection subunit 1312 configured to select, from the plurality of original candidate points, an original candidate point reachable by the vehicle as a reachable candidate point;

a target point determination subunit 1313, configured to determine the reachable candidate point as a target point.

The specific functional implementation manners of the original point determining subunit 1311, the selecting subunit 1312, and the target point determining subunit 1313 may be referred to the above step S201-step S203 in the corresponding embodiment of fig. 3b, which is not described herein.

Referring to fig. 12, the origin determining sub-unit 1311 may include: a region determining subunit 13111, a first dividing subunit 13112.

A region determining subunit 13111, configured to determine an original cruising region in the map display interface according to the starting position and the remaining mileage parameter;

the first dividing subunit 13112 is configured to divide the original cruising area into at least one unit original cruising area, and determine an original candidate point in each unit original cruising area.

The specific functional implementation manner of the region determining subunit 13111 and the first dividing subunit 13112 may refer to step S202 in the corresponding embodiment of fig. 3b, which is not described herein.

Referring to fig. 12, the target point determination subunit 1313 may include: a first determination subunit 13131, a second determination subunit 13132.

A first determining subunit 13131, configured to select, from among the reachable candidate points in the unit original continuous navigation area, the reachable candidate point with the largest distance from the starting position as a target point to be determined corresponding to the unit original continuous navigation area;

the second determining subunit 13132 is configured to take the target points to be determined corresponding to all the unit original cruising areas as the target points.

The specific functional implementation manner of the first determining subunit 13131 and the second determining subunit 13132 may refer to step S203 in the corresponding embodiment of fig. 3b, which is not described herein.

Referring to fig. 12, the selection subunit 1312 may include: a first acquisition subunit 13121, a first distance determination subunit 13122;

a first obtaining subunit 13121, configured to determine an alternative point road network area of the original alternative point;

a first distance determining subunit 13122, configured to obtain, from a road network data set, road network data in the alternative point road network area, as alternative point road network data;

the first distance determining subunit 13122 is further configured to determine the original candidate point as a candidate point if the candidate point road network data is a non-empty set;

The first distance determining subunit 13122 is further configured to determine, according to the road network data set, a road network path distance between the candidate point and the starting position;

the first distance determining subunit 13122 is further configured to determine the candidate point as the reachable candidate point if a road network path distance between the candidate point and the starting position is less than or equal to the remaining mileage parameter.

The specific functional implementation manner of the first acquisition subunit 13121 and the first distance determination subunit 13122 may refer to step S303 to step S306 in the corresponding embodiment of fig. 7, which is not described herein.

Referring to fig. 12, the region determination subunit 13111 may include: a second acquisition subunit 131111, a circumference determination subunit 131112.

A second obtaining subunit 131111, configured to obtain a map scale coefficient corresponding to the map display interface;

the second obtaining subunit 131111 is further configured to determine a mileage radius coefficient according to the remaining mileage parameter and the map scale coefficient;

and the circumference determination subunit 131112 is configured to generate a mileage circumference in the map display interface with the starting position as a center of a circle and the mileage radius coefficient as a radius, and determine a corresponding area of the mileage circumference in the map display interface as the original cruising area.

The specific functional implementation manner of the second obtaining subunit 131111 and the circumference determining subunit 131112 may refer to step S201 in the corresponding embodiment of fig. 3b, which is not described herein.

Referring to fig. 12, the first division sub-unit 13112 may include: a third acquisition subunit 131121, a second partitioning subunit 131122.

A third obtaining subunit 131121, configured to obtain a polar angle interval coefficient, and divide the original cruising area into the at least one unit original cruising area according to the polar angle interval coefficient;

the second dividing subunit 131122 is configured to divide each unit original cruising area into at least one unit original cruising sub-area; the difference value between the area side length of each unit original endurance sub-area and the first length threshold value is smaller than the difference threshold value;

the second dividing subunit 131122 is further configured to use, in the map display interface, a vertex of the original cruising sub-area of each unit as the original candidate point.

The specific functional implementation manner of the third acquiring subunit 131121 and the second dividing subunit 131122 may refer to step S201 in the corresponding embodiment of fig. 3b, which is not described herein.

Referring to fig. 12, the first acquisition subunit 13121 may include: fourth fetch subunit 131211, find subunit 131212.

A fourth obtaining subunit 131211, configured to obtain latitude and longitude information of an original candidate point, and find a target road network data block corresponding to the latitude and longitude information from a plurality of road network data blocks; the road network data set corresponds to the plurality of road network data blocks; each road network data block comprises a plurality of unit road network data blocks;

a searching subunit 131212, configured to search, from a plurality of unit road network data blocks corresponding to the target road network data block, a first unit road network data block corresponding to the latitude and longitude information;

the fourth obtaining subunit 131211 is further configured to obtain a second length threshold, and determine a second unit road network data block adjacent to the first unit road network data block according to the second length threshold;

the fourth obtaining subunit 131211 is further configured to use a road network area corresponding to the first unit road network data block and a road network area corresponding to the second unit road network data block as an alternative point road network area of the original alternative point.

The specific functional implementation manner of the fourth obtaining subunit 131211 and the searching subunit 131212 may refer to step S303 in the corresponding embodiment of fig. 7, which is not described herein.

Referring to fig. 12, the first determining subunit 13131 may include: the second distance determination subunit 131311 and the third determination subunit 131312.

A second distance determining subunit 131311, configured to determine a map distance between the reachable candidate point in the unit original continuous navigation area and the starting position in the map display interface;

the third determining subunit 131312 is configured to take the reachable candidate point with the maximum map distance as the target point to be determined corresponding to the unit original cruising area.

The specific functional implementation manner of the second distance determining subunit 131311 and the third determining subunit 131312 may refer to step S203 in the corresponding embodiment of fig. 3b, which is not described herein.

Referring to fig. 12, the first determining subunit 13131 may include: the third distance determination subunit 131313 and the fourth determination subunit 131314.

A third distance determining subunit 131313, configured to determine a road network path distance between the reachable alternative point in the unit original continuous navigation area and the starting position, as a candidate road network path distance;

and the fourth determining subunit 131314 is configured to take the reachable candidate point with the largest candidate road network path distance as the target point to be determined corresponding to the unit original cruising area.

The specific functional implementation manner of the third distance determining subunit 131313 and the fourth determining subunit 131314 may refer to step S303 in the corresponding embodiment of fig. 7, which is not described herein.

Referring to fig. 12, the connection unit 132 may include: connection subunit 1321, deletion subunit 1322.

A connection subunit 1321, configured to connect each of the target points in a clockwise order or a counterclockwise order, to obtain a candidate closed loop;

a deletion subunit 1322 configured to delete, from the candidate closed circles, target points that satisfy the position mutation condition;

the connection subunit 1321 is further configured to connect, in the map display interface, the remaining target points in the clockwise order or the counterclockwise order, to obtain the target cruising area.

The specific functional implementation manner of the connection subunit 1321 and the deletion subunit 1322 may refer to step S204 in the corresponding embodiment of fig. 3b, which is not described herein.

Referring to fig. 12, the target point includes a first reachable point, a second reachable point, and a third reachable point; the second reachable point is adjacent to the first reachable point in the candidate closed loop, and the second reachable point is adjacent to the third reachable point;

The image processing apparatus 1 may include: a first acquisition module 11, a second acquisition module 12, and a target area determination module 13; may further include: a first connection module 14, an included angle determination module 15.

A first connection module 14, configured to connect the first reachable point and the second reachable point to obtain a first connection line;

the first connection module 14 is further configured to connect the second reachable point with the third reachable point to obtain a second connection line;

and the included angle determining module 15 is configured to determine, according to the first connection line and the second connection line, a connection line included angle, and if the connection line included angle is smaller than an included angle threshold, determine the second reachable point as a target point that satisfies the position abrupt change condition.

The specific functional implementation manner of the first connection module 14 and the included angle determining module 15 may refer to step S204 in the corresponding embodiment of fig. 3b, which is not described herein.

the image processing apparatus 1 may include: the first acquiring module 11, the second acquiring module 12, the target area determining module 13, the first connecting module 14, the included angle determining module 15 may further include: a second connection module 16, a coefficient determination module 17.

A second connection module 16, configured to connect the first reachable point and the third reachable point to obtain a third connection line;

a coefficient determining module 17, configured to determine a connection line distance between the second reachable point and the third connection line, and generate a connection line scaling coefficient according to the connection line distance and the length of the third connection line;

the coefficient determining module 16 is further configured to determine the second reachable point as a target point that satisfies the abrupt position condition if the scaling coefficient of the connection line is greater than a scaling coefficient threshold.

The specific functional implementation manner of the second connection module 16 and the coefficient determination module 17 may refer to step S204 in the corresponding embodiment of fig. 3b, which is not described herein.

Further, please refer to fig. 13, which is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The terminal device in the foregoing corresponding embodiment of fig. 3a to 11b may be an electronic device 1000, as shown in fig. 13, where the electronic device 1000 may include: a user interface 1002, a processor 1004, an encoder 1006, and a memory 1008. Signal receiver 1016 is used to receive or transmit data via cellular interface 1010, WIFI interface 1012, a. The encoder 1006 encodes the received data into a computer-processed data format. The memory 1008 has stored therein a computer program, by which the processor 1004 is arranged to perform the steps of any of the method embodiments described above. The memory 1008 may include volatile memory (e.g., dynamic random access memory, DRAM) and may also include non-volatile memory (e.g., one-time programmable read only memory, OTPROM). In some examples, the memory 1008 may further include memory located remotely from the processor 1004, which may be connected to the electronic device 1000 over a network. The user interface 1002 may include: a keyboard 1018 and a display 1020.

In the electronic device 1000 shown in fig. 13, the processor 1004 may be configured to invoke the storage of a computer program in the memory 1008 to implement:

acquiring the remaining mileage parameters of the vehicle;

acquiring the initial position of the vehicle in a map display interface;

and displaying the target cruising area in the map display interface.

In one embodiment, the processor 1004, when executing the determination of the target cruising area in the map display interface according to the starting position and the remaining mileage parameter, specifically executes the following steps:

In one embodiment, the processor 1004, when executing the determination of a plurality of target points in the map display interface according to the starting position and the remaining mileage parameters, specifically executes the following steps:

and determining the reachable alternative point as a target point.

In one embodiment, the processor 1004, when executing the determination of a plurality of original candidate points according to the starting location and the remaining mileage parameters, specifically executes the following steps:

In one embodiment, the processor 1004, when executing the determination of the reachable candidate point as the target point, specifically executes the following steps:

In one embodiment, the processor 1004, when executing selecting an original candidate point reachable by the vehicle from the plurality of original candidate points as the reachable candidate point, specifically executes the following steps:

In one embodiment, the processor 1004, when executing the determination of the original cruising area in the map display interface according to the starting position and the remaining mileage parameter, specifically executes the following steps:

obtaining map scale coefficients corresponding to the map display interface;

In one embodiment, the processor 1004, when executing the dividing the original cruising area into at least one unit original cruising area and determining the original candidate points in each unit original cruising area, specifically executes the following steps:

In one embodiment, the processor 1004, when executing the alternative point road network area that determines the original alternative point, specifically performs the following steps:

In one embodiment, the processor 1004, when executing the reachable candidate point with the largest distance from the starting position from the reachable candidate points in the unit original continuous navigation area, specifically executes the following steps when selecting the reachable candidate point with the largest distance from the starting position as the target point to be determined corresponding to the unit original continuous navigation area:

In one embodiment, when the processor 1004 connects the plurality of target points in the map display interface to obtain the target cruising area, the following steps are specifically executed:

In one embodiment, the target point comprises a first reachable point, a second reachable point, and a third reachable point; the second reachable point is adjacent to the first reachable point in the candidate closed loop, and the second reachable point is adjacent to the third reachable point;

the processor 1004 also performs the steps of:

It should be understood that the electronic device 1000 described in the embodiment of the present invention may perform the description of the image processing method in the embodiment corresponding to fig. 3a to 11b, and may also perform the description of the image processing apparatus 1 in the embodiment corresponding to fig. 12, which is not repeated herein. In addition, the description of the beneficial effects of the same method is omitted.

Furthermore, it should be noted here that: the embodiment of the present invention further provides a computer storage medium, in which the aforementioned computer program executed by the image processing apparatus 1 is stored, and the computer program includes program instructions, when executed by the processor, can execute the description of the image processing method in the embodiment corresponding to fig. 3a to 11b, and therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer storage medium according to the present invention, please refer to the description of the method embodiments of the present invention.

Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.

The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims

1. An image processing method, comprising:

acquiring the remaining mileage parameters of the vehicle;

acquiring the initial position of the vehicle in a map display interface;

dividing the original cruising area into a plurality of unit original cruising areas, and respectively determining original candidate points in each unit original cruising area to obtain a plurality of original candidate points;

selecting an available alternative point with the largest distance from the initial position from available alternative points in each unit original continuous navigation area as a target point to be determined, wherein the target point corresponds to each unit original continuous navigation area;

taking target points to be determined corresponding to all unit original cruising areas as target points to obtain a plurality of target points;

Connecting the plurality of target points in the map display interface to obtain a target cruising area;

and displaying the target cruising area in the map display interface.

2. The method of claim 1, wherein the selecting the original candidate point reachable by the vehicle from the plurality of original candidate points as the reachable candidate point comprises:

3. The method of claim 1, wherein the determining an original cruising area in the map display interface according to the starting location and the remaining range parameter comprises:

Obtaining map scale coefficients corresponding to the map display interface;

4. The method of claim 1, wherein dividing the original cruising area into a plurality of unit original cruising areas and determining original candidate points in each unit original cruising area respectively comprises:

obtaining a polar angle interval coefficient, and dividing the original cruising area into a plurality of unit original cruising areas according to the polar angle interval coefficient;

5. The method of claim 2, wherein the determining the candidate point road network area for the original candidate point comprises:

6. The method according to claim 1, wherein selecting, from among the reachable candidate points within the unit original cruising area, the reachable candidate point having the largest distance from the start position as the target point to be determined corresponding to the unit original cruising area, comprises:

7. The method according to claim 1, wherein selecting, from among the reachable candidate points within the unit original cruising area, the reachable candidate point having the largest distance from the start position as the target point to be determined corresponding to the unit original cruising area, comprises:

8. The method of claim 1, wherein connecting the plurality of target points in the map display interface to obtain a target cruising area comprises:

9. The method of claim 8, wherein the target point comprises a first reachable point, a second reachable point, and a third reachable point; the second reachable point is adjacent to the first reachable point in the candidate closed loop, and the second reachable point is adjacent to the third reachable point;

the method further comprises the steps of:

10. The method of claim 8, wherein the target point comprises a first reachable point, a second reachable point, and a third reachable point; the second reachable point is adjacent to the first reachable point in the candidate closed loop, and the second reachable point is adjacent to the third reachable point;

The method further comprises the steps of:

11. An image processing apparatus, comprising:

the first obtaining module is further configured to display the target cruising area in the map display interface;

the target area determining module includes:

The connecting unit is used for connecting the plurality of target points in the map display interface to obtain the target cruising area;

the target point determination unit includes:

a target point determination subunit configured to determine the reachable candidate point as the target point;

the origin determining subunit includes:

the first dividing subunit is used for dividing the original cruising area into at least one unit original cruising area and respectively determining the original candidate points in each unit original cruising area;

the target point determination subunit includes:

12. An electronic device, comprising: a processor and a memory;

the processor being connected to a memory, wherein the memory is adapted to store a computer program, the processor being adapted to invoke the computer program to perform the method according to any of claims 1-10.

13. A computer storage medium, characterized in that the computer storage medium stores a computer program comprising program instructions which, when executed by a processor, perform the method of any of claims 1-10.